Gripper with a trident body section

ABSTRACT

A modular gripper has a body with a trident section and cylindrical section. A powering assembly is positioned in the cylindrical section. A pair of oppositing jaws is pivotally secured between a center wall and a pair of side wall, respectively, of the trident section. The piston rod moves a cam assembly on the center wall. The cam assembly passes through a body having a trident section and cylindrical section. The trident section comprises a trident structure that includes, at one end, a pair of side walls along with a center wall. The cylindrical section includes a fluid driven powering assembly. A pair of opposing jaw member are pivotally secured to the trident portion about separate pivot pins. A cam assembly is operatively connected to a piston rod of the fluid driven powering assembly. The cam assembly extends laterally outward with respect to a cylinder bore axis to receive a cam bush that engages with a through slot on each of the pair of opposing jaw members. The jaws rotate with respect to one another in response to fluid power in the cylindrical section. A pair of side plate members, each slide plate member has an elongated blind slot that receives an end of the cam assembly, the ends travel in the blind slot. Cam slots in the pair of opposing jaws, via a cam bushing.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. patent application Ser. No.16/159,630 filed on Oct. 13, 2018 which claims the benefit and priorityof Indian Application No. 201831022516, filed Jun. 15, 2018. The entiredisclosure of the above application is incorporated herein by reference.

FIELD

The present invention relates to gripping sheet metal and stamped partsand, more particularly, to a lightweight designed gripper. Itpneumatically propels the modular or interchangeable jaws that aremounted to two different pivot holes and bi-directional mountingbrackets for sensing option. The holes are offset from the axis of thegripper body. Also, provided is variable angle adjustability by the jawopening and adjustable sheet stopping.

BACKGROUND

Sheet metal grippers with competing gripping force with doublejaw/single jaw opening options for press shop automation are relativelyless compact and sturdy. This limits the speed of the pressing operationthat significantly challenges how fast the sheets can be maneuvered fromsuccessive forming stations. The heavier the weight of gripper, the moreit hinders the end of the robot. This compels the robot to move slowerdue to an increase in applied moment. Accordingly, it is desired tolessen the weight of the gripper while achieving all grippercharacteristics.

Accordingly, the present disclosure provides a modular sheet metalgripper that bridges the bottlenecks of weight aspects with compact sizewhile ensuring competing gripping characteristics. The present gripperis formed from aluminum and steel. The pneumatic actuator sweepsdefinite air volume for quick actuation. The pair of opposite facingjaws provides a unique cam profile as well as respected pivot points.This prevents the non-gripping end of each jaw from protruding from thetop and bottom plane of the gripper body. This enables the use of thegrippers in narrow or confined space and direct base mount requirements.The footprint of this gripper is relatively compact compared tocurrently available grippers, while achieving competing gripping force.The gripper actuation speed is relatively fast.

The jaws of typical grippers are removable and replaceable withdifferent jaws to accommodate to different styles of jaw configuration.For example, jaws having different cam slot shapes may be substituted topartial jaw opening of a bottom jaw.

In a typical production line, grippers are mounted in narrow spaces orconfined spaces that limits the jaw opening. The gripper requires jawopening adjustments. The present gripper has jaw opening angleadjustability arrangements. This facilitates the desired jaw opening bya striker and adjustable bumper that is mounted to the gripper body.Also, an adjustable sheet stopper, designed with a pair of curvatureslots, allows adjustable variable stopper plate position. Also thisinvention includes part presence sensor brackets, jaw open/closeposition/double blank sensing brackets, magnetic sensor bracket andadjustable sheet stopper are designed with compatible mounting option onboth side of the gripper and enable adjusted variable positions.

SUMMARY

A gripper comprises an aluminum body with a gripping portion and acylindrical portion. The gripping portions comprises a pair of sidewalls along with a center wall having an open cutout that is in-linewith a cylinder axis and perpendicular to the structure from the frontend of the gripper body to facilitate easy assembly of gripper parts.The gripping portion comprises a front end opened groove on peripheralsides of the body. This accommodates side plates that includes elongatedblind or through-slots that guide flat surfaces of a cam pin on bothend. Contour wall in the gripper portion supports and guides the clevisportion of the piston rod that is coupled to the cam pin. A pistonassembly, that includes a piston rod, piston, seals and bumpers arepositioned inside a bore of the cylindrical portion. This gripper has apair of jaws that are coupled to the gripper body through twoindependent pivot pins that extend between the center wall and side walland are positioned away from the cylinder axis. The pair of gripper jawsincludes a cam slot. The cam slot receives a cam bushing that isfastened to the cam pin attached to the piston rod. As the piston rod ismoved in a reciprocal manner, by pneumatic or hydraulic power, the campin, with the cam bushings, slides through the cam slots causing thegripper jaws to open and close. The cam slots are designed with aparticular shape that affects opening and closing of the gripper jaws.This further causes the gripper jaws to become self-locked in the closedposition. The self-locking feature prevents the gripper from failing inthe event of fluid flow interruption to the cylinder. Also, the pair ofopposite facing jaws provides a unique cam profile, as well as,respected pivot points that prevent the non-gripping end of each jawfrom protruding from the bottom plane of the gripper body. An axial boreis formed in a wall to define the body of the cylindrical portion. Theaxial bore enables fluid flow for piston activation. A plug seals theaxial end of the bore at the exterior of the cylindrical portion.

The gripper has an external angle adjustability arrangement thatfacilitates desired jaw opening. It is assisted by a striker that iscoupled to the jaw by a dowel pin, at any one of the designated holes atone end, and at the other end, it directly mounts to an extended pivotpin placed between open cutouts in the center wall of the grippingportion. The striker strikes against a threaded bumper that is fastenedto a triangle shaped bracket. The bracket is directly mounted to a slotprovided at the top of the center wall in the gripping portions of thebody. The threaded bumper may be adjusted by screws that limit orcontrol the desired opening angle of the jaw with respect to its pivot.Also, jaws are provided with engraved indicia with numerical values foreasy angle adjustments.

The adjustable sheet stopper, with a pair of curved slots, enablesvariable stopper plate positioning. A pair of sheet stoppers is directlyfastened to both peripheral sides of the gripper body by at least onethreaded screw. The plates can be interchangeable on any side of thegripper body. The plates can be reversible and fastened to the gripperbody to obtain the next range of adjustability. Also, the stopper plateis provided with a centered elongated slot to enable the movable memberto provide a sensing option.

The disclosure also contemplates different sensor mounting bracketsdesigned from an aluminum housing with appropriate sensor mountingfeatures. Brackets are designed in manner that can directly fastened toany peripheral side of the gripper body by at least one threaded screw.These plates can be adjustable or fixed at any position depending uponthe sensing requirements.

Further areas of applicability will become apparent from the descriptionprovided herein. The description and specific examples in this summaryare intended for purposes of illustration only and are not intended tolimit the scope of the present disclosure.

DRAWINGS

The drawings described are for illustrative purposes only of selectedembodiments and not all possible implementations, and are not intendedto limit the scope of the present disclosure.

FIG. 1 is a perspective view of a gripper secured on an end effector.

FIG. 2 is an exploded perspective view of the gripper and toolingmounts.

FIG. 3 is a front perspective view of the gripper in a grippingposition.

FIG. 4 is an exploded perspective view of the gripper.

FIG. 5 is a top plan view of FIG. 3.

FIG. 6 is a cross section view of FIG. 5 along line 6-6 thereof.

FIG. 7 is a cross section view of FIG. 5 along line 7-7.

FIG. 8 is a rear perspective of the gripper.

FIG. 9 is a bottom plan view of the gripper.

FIG. 10 is a perspective view of different jaw styles configurations andtips styles.

FIG. 10a are perspective views that depict embodiments of the gripperjaw member.

FIG. 11a-11d are perspective views that depict embodiments of grippertips.

FIG. 12 is an exploded perspective of an external angle adjustmentarrangements and part presence sensing arrangement.

FIG. 13 is an exploded perspective view of a part presenceoptical/infrared sensor bracket assembly.

FIG. 14 is an exploded perspective view of a jaw positions/double blanksensing bracket assembly.

FIG. 15 is another exploded perspective view of a jaw positions/doubleblank sensing bracket assembly.

FIG. 16 is a further exploded perspective view of a jaw positions/doubleblank sensing bracket assembly.

DETAILED DESCRIPTION

Example embodiments will now be described more fully with reference tothe accompanying drawings.

Turning to the figures, a gripper is illustrated and designated with thereference numeral 10. A tooling mount 12 secures the gripper 10 onto theend effector tool 14.

The tool mount 12 includes a ball 16, a collar 18 and a threaded block20. The ball 16 is attached with the end effector tool 14. The ball 16is secured with the collar 18. A mounting key 22 passes between theblocks 24, 26 and is secured by a fastener 28. The mounting key 22 hasan extended portion 30. The extended portion 30 projects into a groove66 in the gripper 10, as will be explained later.

The gripper 10 includes a body 40. The body 40 is generally of a onepiece aluminum or other lightweight metal construction. The body 40includes a cylindrical section 42, and a trident section 44. Thecylindrical sections 42 acts as a housing for a powering assembly 46,here illustrated as a piston assembly. The piston assembly includes apiston rod 48, a rod seal 49, a rubber cushion 47 and a piston 50 withan outer seal 52. The cylindrical portion 42 includes a cylindrical bore54 to receive the piston assembly. The end of the cylinder bore 54 isclosed by a bore plug 56 with an O-ring seal 58. A retaining spring clip60, via contact of the clip 60 with an inner circumferential groove 62,secures the bore plug 56 and seal 58 in the cylindrical bore 54.

The outer circumferential surface 64, of the cylindrical section 42,includes a circumferential groove 66. The circumferential groove 66receives the extending portion 30 of the mounting key 22. The extendingportion 30 positions and maintains the tooling mount 12 with thecylindrical portion 42 of the body 40.

The cylinder wall 68 of the cylindrical section 42 includes an axialbore 70. The axial bore 70 includes an outlet 72. The outlet 72 enablesfluid to enter into the cylindrical bore 54. The axial bore 70 isdrilled through the cylinder wall 68 of the cylindrical section 42. Theaxial bore 70 is closed off by a plug 74. The plug 74 is inserted intothe exterior end surface 75 of the cylinder wall 68. The interior end ofthe bore 70 couples with bore 76. The bore 76 receives a fluid conduit78. A second bore 80 receives a fluid conduit 82. The second bore 80 isalso formed in a web 94 of the trident section 44. The bore 80 iscoupled with a fluid outlet 84. The fluid outlet 84 enables fluid toenter into the cylindrical bore 54.

The trident section 44 has a pair of side walls 90, 92 and center wall91 connected via the web portion 94. The web portion 94 includes thebores 76, 80, generally threaded, that receive the fluid conduits 78,82. The side walls 90, 92 and center wall 91, in the trident section 44,included open cutouts from the front end 122 of the body aligned withthe cylinder axis 115. The open cutouts are defined by guiding surfaces120 in the center wall 91 and non-guiding surfaces 124 a, 124 b on theside wall 90, 92. The guiding surfaces 120 may receive clevis portionguiding faces 128 of the piston rod 48.

The piston rod 48 reciprocates on the guiding surfaces 120 by the fluidpower from the powering assembly 46 of the cylindrical section 42. Theclevis portion 135 of the piston rod 48 having through bore 114,receives the cam pin 112.

The cam pin 112 extends laterally outward, with respect to the cylinderbore axis 115, to receive cam bushings 116. The cam bushings 116 engagethe through cam slot 136 of each of the pair of opposing jaw members118. The jaws 110 are rotated in response to fluid power in thecylindrical sections 42. Both ends of the extended cam pin 112 includeflat surfaces 113 that may slide in the elongated blind-slot 104 ofslide plate 98. Also, flat surface 113 in the cam pin 112 preventsrotation of the cam pin 112.

Also, cam pin 112 includes a threaded hole 117, along its axis, on eachside to receive the sensor flag 254. The outer surface of the each sidewalls 90, 92 may include grooves 96, 97 that may receive a pair of sideplate 98. The slide plates 98 are fixed by fasteners 108 to the threadedhole 100 through the holes 106 of the side plate 98. The groove 96 outersurfaces of the side wall 90 and groove 97 outer surfaces of the sidewall 92 includes pivot holes 130, 132, respectively. Both pivot holes130, 132 are opposite each other and symmetry to cylinder bore axis 115.Both pivot holes 130, 132 are away from the cylinder bore axis 115. Bothpivot holes 130, 132 receive a pair of pivot pin 102 for the pair ofopposable jaw members 118. The pair of pivot pin 102 is arrested fromaxial movement by the pair of side plate 98.

Jaw member 118 includes a body 134 with an adjacent arm 138. The arm 138include through hole 164 to receive the pivot pin 102. Additionally, thearm 138 include a through cam slot 136 to receive the cam bushing 116.The cam bushing 116 is inserted onto the cam pin 112 that is secured tothe piston rod 48. The through cam slots 136 have an overall flattenedV-shape to enable movement of the jaw 118 from a griping to anon-griping position. The arm 138 includes a set of two blind holes 140on the first portion 148 that receive striker dowel pin 192. Arm 138second portion 150 is engraved with angle marks 152 and decimal valuesfor easy jaw opening angle adjustment. The body 134 includes a tip seat144 and threaded hole 146 that receive clamping tips 158. Also theclamping tips 158 clamp the part between the pair of jaws 118. Theclamping tips 158 are permanently locked in place by threaded fasteners159.

The end portion 154 of the arm 138, in side elevation view, has anoverall turtle shell shape. The first side 156 is arcuate and extendsfrom the top portion 156 of the arms 132. The body 134 side is chamferedand extends from the top portion 156 of the arms 132. The second arcuatecutout portion 162 is curved and aligned with an end of the flattened Vshape cam slot 136. The pivot hole 164 receives bushing 165 on bothportion 148 and 150. Bushing 165 is positioned between side wall 90 or92 and center wall 91 of the trident section 44. The jaw 118 moves froma clamped to an unclamped position. During movement, the curved end 154of the arm 138 of upper jaw member 118 of pair of jaw members does notbreak the plane of an end plane 166 of the body of the gripper. Thisenables a much smaller cutout in the die for the gripper entry to pickup the sheet metal parts.

In operation, depending upon the state of the piston assembly, fluidenters through port 76 along bore 72 and exits into cylinder 54. Thepiston assembly moves forward to moves the pair of opposing jaws 118into a non-clamping or retracted position. The pair of opposing jaws 118is moved into a clamped position by fluid entering through port 80through outlet 84 into cylinder 54. This, in turn, moves the pistonassembly in a second direction the pair of opposing jaws 118 into aclamped position. The fluid is controlled by a controller (not shown) tomoves the pair of opposing jaws 118 into a clamped and non-clampedposition. The pair of opposable jaw 118 is independently removable andreplaceable by other jaw members (118 a, 118 b, 118 c, 118 d, 118 e).The through cam slots 136 are defined by particular shape that effectopening and closing of the pair of opposing jaws 118. This furthercauses the pair of opposing jaws 118 to become self-locked in the closedpositions. The self-locking feature prevents the gripper from failing inthe event of interrupted fluid flow to the cylinder 54.

FIG. 10 depicts a number of different interchangeable jaws (118 a, 118b, 118 c, 118 d, 118 e) that can be assembled in the trident section 44and coupled to the jaw powering assembly 46. As depicted, each of thedifferent jaws (118 a, 118 b, 118 c, 118 d, 118 e) have a different tipseating (144 a, 144 b, 144 c, 144 d, 144 e) designs and or work piecereceive orientation that effects different movement characteristics. Themodular gripper can be assembled to include gripper jaws (118 a, 118 b,118 c, 118 d, 118 e) with different tip (158 a, 158 b, 158 c, 158 d)designs that can be used for handling, transporting or transferring,different types of work pieces. Also as the modular gripper can beassembled with gripper jaws (118 a, 118 b, 118 c, 118 d, 118 e) havingsimilar cam slots (136 a, 136 b, 136 c, 136 d, 136 e) configurationsthat affect the angle at which one or both jaws open or close, and whichdetermine whether or not the jaws lock in an open and/or closedposition. The tip 158 has a gripping end 165 that receives the grippingparts. A seating end 166 is coupled to tip seat 144 of the jaw member118 directly by means of threaded fasteners 160. The tip 158 a has athreaded bar 167 to couple directly to the jaw member. Tips 158 b, 158c, and 159 d have a threaded hole 168 to receive fasteners 160 from thejaw member 118. Also the tips 158 c and 158 d have sets of threadedholes 169 on the peripheral side of the tip to receive the part presencesensor bracket 208.

A steel sheet stopper 170 has a pair of curved slots 172 that enablevariable adjustability of the stopper plate position. Sheet stopper 170directly fastens to both peripheral side of side wall 90, 92 of thetrident section 44 by two threaded screw 174. These sheet stopper 170can be interchangeable to any peripheral side of the trident section 44.Also, it can be flipped about curved slot 172 axis to get the next rangeof adjustability. Sheet stopper 170 is provided with an elongated slot176 at its center to allow any movable member that is provided, for thesensing arrangement, to be attached. The sheet stopper 170 is used alongwith bi-directional mounting sensing bracket 222, 240 a, 240 b, 256 d.

An external angle adjuster 178 facilitates desired jaw opening. Itincludes a striker 180. Triangle shaped bracket 182 and threaded bumper184 on the modular gripper. The striker 180 has a pivot hole 186 on oneend and a blind hole 188 on the other end. The pivot hole 186 receivesthe pivot pin 102 that extends between the cutout 99 on the top surface101 of center wall 91 in trident section 44. The blind hole 188, withextended lip 190, receives the dowel pin 92, in the jaw elongated flatbar portion 148. The dowel pin 92 will be coupled any one of the blindholes 140 on the flat bar portion 148 of the jaw member 118. Twodifferent blind holes 140 in the jaw member 118 define the differentrange of the jaw opening angle.

The triangle shaped bracket 182 has a threaded through hole 196 on oneedge to receive threaded bumper 184. The other edge includes throughhole 198 that receives fastener 200 that fastens to center wall 91 ofthe trident section 44. Center wall 91 includes a groove 103 with atleast one threaded hole 105 on the top surface 101. Triangle shapedbracket 182 plugs into groove 103 and is fastened by threaded screw 185.The threaded hole 196 of triangle shaped bracket 182 receive thethreaded bumper 184. The bumper 184 has a soft tip 202 at one end and ahex socket 204 at the opposite end to receive a standard tool. Thethreaded bumper 184 is adjustable by rotation which limits or controlsthe desired opening angle of the jaw 118 with respect its pivot 130. Thethreaded bumper 184 is locked into a desired position by screw nut 183.The screw nut 183 can resist the impact of the striker 180 along withcoupled jaw member 118. Here, the jaw opening is easily adjustable byusing the engraved angle marks 152 on the jaw member 118.

A sensor bracket 208 with a web 210 includes a bore 212 to receive asensor 214 is coupled with the tip 158. The sensor 214 senses thepresence of a part between the pair of opposing jaws 118. When thesensor 214 is positioned in the bore 212, it is secured by a threadedscrew 216 onto the web 210. Sensor bracket 208 will be fastened to theclamping tip 158 by threaded screws 218. The clamping tips 158 c and 158d have threaded hole 169 to receive the sensor bracket 208 and set offasteners 218. A wire 220 extends from the sensor 214. The wire passesthrough below the center wall 91 of the trident section 44. The wire 220continues into a groove 110 in the cylindrical section 42. The groove110 surrounds the wire to protect and prevent movement of the wire 220on the body cylindrical section 42. The wire 220 is held across thecenter wall 91 of trident section 44 by wire hold 22 which is fastenedto center wall 91 by set of threaded screws 219. Additionally, the toolmount collar 18 surrounds the wire locking it in place on the body.

The gripper assembly includes bi-directional mounting sensing brackets222, 240 a, 240 b, 256, 294 as well as a reversible sheet stopper 170.Here bracket 222 is referred as optical/infrared sensor part presencebracket, bracket 240 a and 240 b is referred as inductive sensor jawpositions or double blank presence sensing bracket, 256 is referred toas inductive sensor adjustable jaw positions or double blank presencesensing bracket and 294 is referred to as magnetic sensor adjustable jawpositions or double blank presence sensing bracket. Whereas gripperassembled with bi-directional mounting sensing brackets 222, 240 a, 240b, 256, 294 need to replace the side plate 98 in the gripper 10 withside plate 98 a which has open elongated slot 104 a allows to mount thesensor flag 254 or magnet 306 to cam pin 112.

The bracket 222 has a body 224 with an overall rectangularconfiguration. It includes counter bore slots 226, 228 that enablelateral adjustment of the bracket 222 and secures to gripper by means ofset of fasteners 174. Also, the bracket 222 includes a sensor receivingset of threaded holes 230 that receives sensor 232 and fixed by threadedscrews 238. The slot 228 has a cut surface on each side of the bracket222 called as first side 234 and a second side 236. The sides 234, 236are the same, except they are mirror images of one another. The side 234is focused to sensor 232 and side 236 is focused to the gripper 10.Thus, when the bracket 222 is rearranged from one side of the body 40 tothe other, the sides 234, 236 exchange their focus, the side 234 isfocused to gripper 10 and side 236 is focused towards the sensor 232.And slots 226, 228 enable the sensor 232 along with bracket 222 tolaterally adjust in a proper location and fixed to desired positions bymeans of threaded screws 174. Thus, the user can utilize the right handside or the left hand side of the gripper 10 without the need forspecial sided brackets. The brackets 222 designed to receive sensor 232to enable sensing the part presence in the gripper 10.

The brackets 240 a, 240 b have a body 242 with an overall rectangularconfiguration. They include counter bore slots 244, 246 that enablelateral adjustment of the bracket and secure to the gripper by means ofthe set of fasteners 174. Also, the brackets 240 a, 240 b includes atleast one through hole 248 at mid plane of the brackets that receives asensor 214. The brackets 240 a, 240 b are provided with multiplethreaded holes 250 at different positions around the through hole 248 onthe front side of the brackets. The threaded holes 250 enable the sensor214 to be positioned in a proper orientation by the sensor mountingscrew 216. Also, the brackets are provided with a through channel 252 onthe back side of the bracket and inline to the mid plane of the bracket.This enables the free movement of the sensor flag 254 that is attachedto the cam pin 112. Sensor flag 254 will travel in the provided channel252. Thus, when the brackets 240 a, 240 b are flipped from one side ofthe body 40 to the other, the multiple threaded hole 250 enable thesensor 248 to be positioned in a proper orientation. The brackets 240 aare designed to receive two sensor 214 to enable sensing of the twoposition like jaw open and close, jaw open and double blank presence.The brackets 240 b is designed to receive only one sensor 214. Itenables sensing any one desired sensing option like jaw open, jaw close,double blank presence. The brackets 240 a, 240 b may be positioned onthe left or right side of the gripper to eliminate the need fordesignated side brackets sets.

The bracket 256 has a body 258 with an overall rectangularconfiguration. It includes counter bore slots 260, 262 that enablelateral adjustment of the bracket and secure the gripper by means of setof fasteners 174. The bracket is provided with guide channel 264 on itsfront side to receive bracket cover 266, which is in rectangular shape.This enables horizontal adjustment of the bracket cover 266 along withattached sensor 214. The bracket includes the arrow shaped cutout 268 onthe guide channel 264 to accommodate the sensor 214 body. The cutout 268includes elongated cutout 270 that allows the sensor 214 to move freelywhile position adjustment of the bracket cover and through hole 272which receives and locates the another sensor 214 in one positions.Also, cutouts 268 are formed with narrow grooves 274 adjacent to guidechannel 264 surface that allows the sensor wire 220 to extend out fromthe bracket 256. The bracket includes a set of threaded holes 276 on theguide channel 264 to receive the fasteners 278 that fix the bracketcover 266 to the bracket. Also, cutout 268 include threaded hole 280 toreceive the sensor 214 along with its fastener 216.

Also bracket 256 includes closed channel 282 on the back side of thebracket that is inline to the mid plane of the bracket to enable freemovement of the sensor flag 254 attached to the cam pin 112. Sensor flag254 travels in the closed channel 252. The bracket 256 is designed in asuch way that can be flipped from one side of gripper to the other. Thisenables the bracket to be positioned on the left or right side of thegripper to eliminate the need for designated side brackets sets. Thebracket cover 266 has a set of elongated through slot 284 on the frontside 286 of the cover that enable fixing of the cover to bracket 256 invariable positions using fasteners 278. The bracket cover 266 includesguiding surfaces 288 that will guide precisely on the bracket 256 guidechannel 264 while sensing adjustment. The bracket cover includes arrowshaped cutout 290 on its back side 292 to locate the sensor 214 in placein a given direction. The bracket 256 and cover 266 are designed toreceive two sensors 214 to enable sensing the two position like jaw openand close, jaw open and double blank presence with precise adjustment inany given jaw opening angle.

Turning to FIG. 16, the bracket 294 has a body 296 with an overallrectangular configuration. It includes a set of counter bore holes 298to receive fasteners 174 to fix the bracket to the gripper 10 in definedpositions. The bracket 294 includes a set of two identical groove 300between mid-planes of the bracket on the front side of the bracket. Theset of groove 300 receives at least one sensor 302 that is placed in adesired position with inbuilt screw tightening. The number of sensors302 used in the bracket depends on the numbering sensing requirementslike jaw open, jaw close and double blank presence sensing. The groove300 enables the sensor 302 to adjust very precisely to sense the cam pin112 location. The body 296 includes closed elongated slot 304 on theback side of the bracket inline to the mid plane of the bracket to allowthe free movement of the magnet 306 along with rubber washer 308 whichis place behind the magnet. The magnet 306 and washer 308 are coupleddirectly to the cam pin 112 by means of the threaded fastener 310. Thebracket 296 is designed to receive multiple sensor 302 to enable sensingdifferent position and is used on any side of the gripper. The bracket296 may be positioned on the left or right side of the gripper toeliminate the need for designated side brackets sets.

All the bi-directional mounting sensing brackets 222, 240 a, 240 b, 256,296 are designed to be used along, with or without, sheet stopper 170.All the brackets may be secured to either the side walls 90, 92 of thegripper body 40.

The foregoing description of the embodiments has been provided forpurposes of illustration and description. It is not intended to beexhaustive or to limit the disclosure. Individual elements or featuresof a particular embodiment are generally not limited to that particularembodiment, but, where applicable, are interchangeable and can be usedin a selected embodiment, even if not specifically shown or described.The same may also be varied in many ways. Such variations are not to beregarded as a departure from the disclosure, and all such modificationsare intended to be included within the scope of the disclosure.

What is claimed is:
 1. A modular gripper assembly comprising: a bodyhaving a trident section and cylindrical section, the trident sectionincludes a pair of side walls and a center wall, the cylindrical sectionincludes a fluid driven powering assembly; a pair of opposing jawmembers pivotally secured to the trident portion about separate pivotpins; a cam assembly operatively connected to a piston rod of the fluiddriven powering assembly, the cam assembly includes a cam bush,extending laterally with respect to the piston rod, engages with athrough slot on each of the pair of opposing jaw members, the jawmembers rotate with respect to one another in response to fluid power inthe cylindrical section; and a pair of side plate members, each slideplate member having an elongated slot that receives an end of the camassembly, the ends travel in the slot.
 2. The modular gripper assemblyaccording to claim 1, wherein the pair of side walls is provided with agroove on both peripheral side to receive the pair of side plates. 3.The modular gripper assembly according to claim 1, further comprisingthe pair of slide plates being reversible and interchangeable to eitherside groove of the wall.
 4. The modular gripper assembly according toclaim 1, further comprising a through-slot in each of the pair ofopposable jaw members, the jaw members being independently removable andreplaceable by other jaw members.
 5. The modular gripper assemblyaccording to claim 1, further comprising a jaw opening angle adjustmentassembly.
 6. The modular gripper assembly according to claim 5, furthercomprising one of the jaw members including engraved marks withnumerical values on an outer surface for easy angle adjustments.
 7. Themodular gripper assembly according to claim 5, wherein the center wallincludes a groove, with at least one threaded hole, on a top surface toreceive a triangle shaped bracket.
 8. The modular gripper assemblyaccording to claim 1, further comprising: the pair of side platemembers, each side plate member having a sensor flag coupled to eitherend of the extending cam assembly and travels with it; and a sensorlocated adjacent to the sensor flag, the sensor mounted to a sensorbracket, the sensor bracket is adjustable relative to the sensor flagand mounted on either side of the gripper body.
 9. The modular gripperassembly according to claim 8, further comprising the sensor bracketsbeing bi-directionally mounted on either side of the gripper, the sensorbracket is either fixed or movable from one side of the trident portionto the other.
 10. The modular gripper assembly according to claim 8,wherein the sensor bracket includes a guiding track to receive anintegrated sensor cover, the sensor cover is adjustable relative to thesensor flag and is mounted to the sensor bracket.